CN113661463A - Control method and device of cloud deck, unmanned aerial vehicle and storage medium - Google Patents
Control method and device of cloud deck, unmanned aerial vehicle and storage medium Download PDFInfo
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Abstract
A control method and device of a cloud deck, an unmanned aerial vehicle and a storage medium are provided, the method comprises the following steps: acquiring historical landing information of the unmanned aerial vehicle (10), wherein the historical landing information comprises the type of a historical landing point of the unmanned aerial vehicle (10); and if the type of the historical falling point is the target type, controlling the holder (102) to execute preset operation. By acquiring historical landing information of the unmanned aerial vehicle (10) and determining the type of a historical landing point of the unmanned aerial vehicle (10) from the historical landing information, when the type of the historical landing point is a target type which is not suitable for landing of the unmanned aerial vehicle, the influence of the historical landing point on the cloud deck (102) can be reduced by controlling the cloud deck (102) to execute preset operation, and therefore the quality of an image captured by a shooting device (101) or a recorded video carried on the cloud deck (102) is improved.
Description
The embodiment of the application relates to the field of unmanned aerial vehicles, in particular to a control method and device of a cloud deck, an unmanned aerial vehicle and a storage medium.
In the prior art, an unmanned aerial vehicle is provided with a shooting device through a tripod head, and the shooting device is used for capturing images or recording videos in the motion process of the unmanned aerial vehicle.
Under some circumstances, the user passes through control terminal control unmanned aerial vehicle flight or descends in the open air, because the open air environment is comparatively various, leads to unmanned aerial vehicle probably to descend to some non-ideal landing places when descending, for example, sandy beach, desert, grit road surface, reef, surface of water etc.. Therefore, sand, water and other substances are attached to the lens of the shooting device to influence the quality of images captured by the shooting device or recorded videos, and if sand enters the holder, the holder is also blocked and faces abnormally.
Disclosure of Invention
The embodiment of the application provides a control method and device of a cloud deck, an unmanned aerial vehicle and a storage medium, so that the quality of images captured by a shooting device carried on the cloud deck or recorded videos is improved, and the problems that the cloud deck is blocked and faces abnormally due to the fact that sand grains and other substances enter the cloud deck are effectively avoided.
A first aspect of an embodiment of the present application provides a method for controlling a pan/tilt head, where the pan/tilt head is mounted on an unmanned aerial vehicle, the method including:
acquiring historical landing information of the unmanned aerial vehicle, wherein the historical landing information comprises the type of a historical landing point of the unmanned aerial vehicle;
and if the type of the historical falling point is the target type, controlling the holder to execute preset operation.
A second aspect of the embodiments of the present application provides a control apparatus for a pan/tilt head, including: a memory and a processor;
the memory is used for storing program codes;
the processor, invoking the program code, when executed, is configured to:
acquiring historical landing information of the unmanned aerial vehicle, wherein the historical landing information comprises the type of a historical landing point of the unmanned aerial vehicle;
and if the type of the historical falling point is the target type, controlling the holder to execute preset operation.
A third aspect of the embodiments of the present application provides an unmanned aerial vehicle, including:
a body;
the power system is arranged on the fuselage and used for providing flight power;
and the control device of the second aspect.
A fourth aspect of embodiments of the present application is to provide a computer-readable storage medium, on which a computer program is stored, the computer program being executed by a processor to implement the method of the first aspect.
The control method, the device, the unmanned aerial vehicle and the storage medium of the cloud platform provided by the embodiment are characterized in that historical landing information of the unmanned aerial vehicle is obtained, the type of a historical landing point of the unmanned aerial vehicle is determined from the historical landing information, when the type of the historical landing point is a target type which is not suitable for landing of the unmanned aerial vehicle, the influence of the historical landing point on the cloud platform can be reduced by controlling the cloud platform to execute preset operation, so that the quality of images or recorded videos captured by a shooting device carried on the cloud platform is improved, and the problems that the cloud platform is blocked and the orientation is abnormal due to the fact that sand and other substances enter the cloud platform are effectively avoided.
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present application;
fig. 2 is a flowchart of a control method of a pan/tilt head according to an embodiment of the present disclosure;
fig. 3 is a flowchart of a control method of a pan/tilt head according to another embodiment of the present application;
fig. 4 is a structural diagram of a control device of a pan/tilt head according to an embodiment of the present application.
Reference numerals:
10: an unmanned aerial vehicle; 101: a photographing device; 102: a holder;
103: a communication module; 104: a flight controller; 11: a control terminal;
40: a control device; 41: a memory; 42: a processor;
43: and a communication interface.
The technical solutions in the embodiments of the present application will be described below clearly with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The embodiment of the application provides a control method of a cloud deck. The cloud platform is carried on the unmanned aerial vehicle. As shown in fig. 1, a pan/tilt head 102 is mounted on the drone 10, and a camera 101 can be mounted on the body of the drone 10 through the pan/tilt head 102, and the camera 101 is used for capturing images or recording videos during the motion of the drone. In addition, the user can control unmanned aerial vehicle's flight through control terminal 11, and this control terminal 11 can be the remote control equipment (for example, take the screen remote controller), cell-phone, panel computer, notebook computer etc. that unmanned aerial vehicle corresponds. Specifically, the unmanned aerial vehicle 10 may be provided with a communication module 103 and a flight controller 104, and after the flight controller 104 receives a control instruction sent by the control terminal 11 through the communication module 103, the flight controller 104 may control the flight state of the unmanned aerial vehicle 10 according to the control instruction. In addition, the communication module 103 is also used for transmitting images or videos captured by the capturing device 101 to the control terminal 11. In the embodiment of the present application, the flight controller 104 or the control terminal 11 may also be used to control the rotation of the pan/tilt head 102, or a controller or a processor in the pan/tilt head 102 may also be used to control the rotation of the pan/tilt head 102. The pan/tilt head 102 is not limited to being a three-axis pan/tilt head, but may be other types of pan/tilt heads. The following describes a control method of the pan/tilt head by taking the flight controller 104 as an example.
Fig. 2 is a flowchart of a control method of a pan/tilt head according to an embodiment of the present application. As shown in fig. 2, the method in this embodiment may include:
s201, obtaining historical landing information of the unmanned aerial vehicle, wherein the historical landing information comprises the type of a historical landing point of the unmanned aerial vehicle.
For example, after the unmanned aerial vehicle 10 performs the flight mission each time, the user may control the unmanned aerial vehicle 10 to land through the control terminal 11, and after the unmanned aerial vehicle 10 lands, the flight controller 104 or the control terminal 11 may further record landing information of the unmanned aerial vehicle 10, for example, record the landing information into a log of the unmanned aerial vehicle 10. The landing information may include landing time of the drone 10, location information of the landing point, type of landing point, etc. The type of the landing point may be a terrain type of the landing point, such as flat ground, grass, beach, etc.
It is to be understood that the landing information recorded by the flight controller 104 or the control terminal 11 at the historical time may be recorded as historical landing information, the historical landing information may include the type of the historical landing point of the drone 10, and in other embodiments, the historical landing information may further include the historical landing time of the drone 10, the location information of the historical landing point, and the like.
Optionally, the obtaining of the historical landing information of the unmanned aerial vehicle includes: and when the unmanned aerial vehicle is started, acquiring historical landing information of the unmanned aerial vehicle.
For example, when the drone 10 starts up again after landing, the flight controller 104 may obtain historical landing information for the drone 10 from the log. For example, the historical landing information may be historical landing information of the drone 10 when last landed.
S202, if the type of the historical falling point is a target type, controlling the holder to execute preset operation.
Further, the flight controller 104 may determine whether the type of the historical landing point is a target type according to the historical landing information of the drone 10 at the last landing, where the target type may be a target type that is not suitable for the landing of the drone.
Optionally, the target type includes at least one of the following: sand beach, desert, sandstone road surface, reef, water surface. If flight controller 104 determines that the type of historical drop point is the target type, flight controller 104 may control pan-tilt 102 to perform a predetermined operation.
This embodiment is through the historical information of descending that acquires unmanned aerial vehicle, and confirm the type of the historical point of descending of unmanned aerial vehicle in this historical information of descending, when the type of historical point of descending is the target type that is unsuitable unmanned aerial vehicle to descend, through control cloud platform execution default operation, can reduce the influence of historical point of descending point to the cloud platform, thereby improve the quality of the image that the camera that carries on this cloud platform caught or the video of recording, effectively avoid material such as sand grain to get into the cloud platform, lead to the cloud platform to block, the unusual problem of orientation.
The embodiment of the application provides a control method of a cloud deck. On the basis of the above embodiment, the controlling the pan/tilt head to execute the preset operation includes: and controlling the holder to execute a shaking operation.
For example, if the flight controller 104 determines that the type of the historical landing point is the target type, the flight controller 104 may control the pan/tilt head 102 to perform a shake operation to shake off sand, water, or other substances that the drone 10 adheres to the camera surface when landing at the historical landing point, or that enter the pan/tilt head 102.
Optionally, the controlling the pan/tilt head to perform a shake operation includes: and controlling the cradle head to shake according to a preset shaking path.
For example, the flight controller 104 may control the pan/tilt head 102 to shake according to a preset shake path, which may cause the pan/tilt head 102 to shake slightly in the three-axis direction thereof.
Optionally, the method further includes: and determining the preset jitter path according to the structure or the installation mode of the holder.
For example, this preset shaking path is determined according to the structure of the pan/tilt head 102 or the installation mode of the pan/tilt head 102 on the unmanned aerial vehicle 10, so that the gap of the structure of the pan/tilt head itself can be more effectively shaken out, and substances such as sand grains in the gap of the pan/tilt head and the installation structure of the unmanned aerial vehicle can be further avoided from entering the pan/tilt head, thereby causing the problem that the pan/tilt head is stuck and faces abnormally.
Optionally, the preset shaking path is characterized by an angular velocity and/or an angular acceleration of the rotation of the holder with the rotation shaft as an axis.
For example, when the pan/tilt head 102 shakes according to the preset shake path, the pan/tilt head 102 may rotate around the rotation axis at the preset angular velocity and/or angular acceleration. Optionally, the rotation shaft includes at least one of: pitch axis, roll axis, yaw axis.
This embodiment is when the type of the historical landing point of unmanned aerial vehicle is the target type that is not fit for unmanned aerial vehicle to descend, for example, sandy beach, desert, grit road surface, reef or when the water surface, carry out the shake operation through controlling the cloud platform, thereby can avoid the material such as sand grain, water of historical landing point to leave over in the cloud platform and cause the influence to the cloud platform, in addition, carry out the shake operation through controlling the cloud platform, still can avoid the camera lens of the camera device that carries on the cloud platform to adhere to and have material such as sand grain, water to form dirty, thereby can improve the image that the camera device caught or the quality of the video of recording.
The embodiment of the application provides a control method of a cloud deck. Fig. 3 is a flowchart of a control method of a pan/tilt head according to another embodiment of the present application. As shown in fig. 3, in addition to the above-described embodiment, the imaging device is mounted on the pan/tilt head. As shown in fig. 1, the photographing device 101 may be mounted on a pan/tilt head 102.
Before the obtaining of the historical landing information of the unmanned aerial vehicle, the method further includes:
s301, when the unmanned aerial vehicle is in a landing state, the environment image information is obtained from the shooting device.
For example, the flight controller 104 may control the drone 10 to land at a historical time, that is, when the drone 10 is in a landing state, the flight controller 104 may acquire the environmental image information from the camera 101.
Optionally, the unmanned aerial vehicle is in the landing state, include: and the unmanned aerial vehicle receives a landing control instruction.
The control terminal 11 may be, for example, a remote control, which may be provided with an operating element, such as a joystick, for operation by a user. The remote controller generates the control lever volume according to the operation of the user to the rocker, and when the user descends through rocker control unmanned aerial vehicle 10, the remote controller can generate the descending control instruction according to corresponding control lever volume to send this descending control instruction to unmanned aerial vehicle 10 through wireless communication, further, flight controller 104 descends according to this descending control instruction control unmanned aerial vehicle 10. Or, the remote controller may send the control lever amount to the unmanned aerial vehicle 10 through wireless communication, and the flight controller 104 may generate a landing control instruction according to the control lever amount, and further, the flight controller 104 controls the unmanned aerial vehicle 10 to land according to the landing control instruction. Or, be provided with the descending button on the remote controller, through the operation of obtaining the user to descending button, generate the descending control command to send this descending control command to unmanned aerial vehicle 10 through wireless communication, further, flight controller 104 is according to this descending control command control unmanned aerial vehicle 10 to descend. Or, the remote controller is in communication connection with the mobile phone, generates a landing control instruction by obtaining a click or sliding operation of the user on a virtual landing button on the mobile phone interactive interface, and sends the landing control instruction to the unmanned aerial vehicle 10 through wireless communication, and further, the flight controller 104 controls the unmanned aerial vehicle 10 to land according to the landing control instruction.
During landing of the drone 10, the flight controller 104 may acquire environmental image information from the camera 101.
The environment image information may specifically be image information of an environment in which the unmanned aerial vehicle 10 is located. Specifically, the camera 101 shown in fig. 1 may be a downward-looking camera of the drone, and the camera mounted on the drone 10 is not limited to the camera 101, and for example, the drone 10 may also be mounted with a forward-looking camera and a rearward-looking camera. The downward-looking camera, the forward-looking camera and the backward-looking camera can be used for acquiring image information of the environment where the unmanned aerial vehicle 10 is located, and the image information of the environment can comprise ground image information.
S302, recording historical landing information of the unmanned aerial vehicle according to the environment image information.
For example, after the flight controller 104 acquires the environment image information, it may determine a landing point of the drone 10 according to the environment image information, and record historical landing information of the drone 10, such as landing time of the drone 10, location information of the landing point, and a type of the landing point.
Optionally, the recording the historical landing information of the unmanned aerial vehicle according to the environment image information includes: determining the type of the environment according to the environment image information; when the type of the environment is the target type, generating first prompt information, wherein the first prompt information is used for prompting a user to change a landing point of the unmanned aerial vehicle; and if the landing point of the unmanned aerial vehicle is not changed by the user, recording historical landing information of the unmanned aerial vehicle.
For example, after flight controller 104 acquires the environment image information, a scene recognition algorithm may be used to perform scene detection on the ground image information in the environment image information to determine the ground type. When the ground type is a target type, for example, a sand beach, a desert, a gravel road, a reef, or a water surface, the flight controller 104 may generate a first prompt message and send the first prompt message to the control terminal 11, where the first prompt message may be used to prompt the user to change the landing point of the unmanned aerial vehicle. For example, the user interface of the control terminal 11 may display the first prompt message, which is, for example: "non-ideal landing place, please change the landing point, otherwise may cause the holder abnormal". If the user does not change the landing point, but continues to control the drone to land, the flight controller 104 may record the historical landing information of the drone.
The environmental image information that this embodiment was gathered through the shooting device, confirm the type of environment, for example, ground type, when this ground type is the target type that is unsuitable unmanned aerial vehicle descends, generate first prompt information in order to indicate the user to change this unmanned aerial vehicle's landing point, that is to say, when determining the ground type that is unsuitable unmanned aerial vehicle descends, guarantee that the user has the chance to change this unmanned aerial vehicle's landing point, avoid target type's ground to cause the influence to unmanned aerial vehicle, thereby unmanned aerial vehicle's security has been improved.
The embodiment of the application provides a control method of a cloud deck. On the basis of the foregoing embodiment, the method in this embodiment further includes: and generating second prompt information before controlling the cradle head to shake or when the cradle head is in a shaking state, wherein the second prompt information is used for prompting a user that the current operation of the cradle head is not abnormal.
For example, before the flight controller 104 controls the pan/tilt head 102 to shake, or when the pan/tilt head 102 is in a shake state, the flight controller 104 may further generate second prompt information for prompting the user that the current operation of the pan/tilt head 102 is not abnormal, and send the second prompt information to the control terminal 11. Because the flight controller 104 controls the pan/tilt head 102 to shake in order to avoid the sand, water and other substances at the historical falling point from attaching to the shooting device or leaving behind in the pan/tilt head, if the user does not perform corresponding prompt, when the pan/tilt head 102 shakes, the user may think that the pan/tilt head is abnormal, and instead some interference operations are performed, therefore, the second prompt information can improve the user experience.
Optionally, after the control of the pan/tilt head to execute the preset operation, the method further includes: controlling the holder to perform self-inspection; and if the self-checking of the holder fails, generating third prompt information, wherein the third prompt information is used for prompting the user that the state of the holder is abnormal.
For example, after the unmanned aerial vehicle controls the pan/tilt head shake, the flight controller 104 may also control the pan/tilt head 102 to perform a self-test, or a controller or processor inside the pan/tilt head 102 to perform a self-test operation.
Optionally, the controlling the pan/tilt head to perform self-inspection includes: and controlling the holder to rotate to a limit angle.
For example, the ranges in which the pan/tilt head 102 normally rotates with the pitch axis, the roll axis, and the yaw axis as axes are respectively preset angle ranges, and the boundaries of the preset angle ranges may be recorded as limiting angles. Therefore, when the pan/tilt head 102 is controlled to perform self-inspection, the pan/tilt head 102 can be specifically controlled to rotate to a corresponding limit angle when rotating with the pitch axis, the roll axis and the yaw axis as axes, so that whether the pan/tilt head 102 rotates normally can be detected within an angle range as large as possible.
If the pan/tilt head 102 cannot rotate to the limit angle, the self-inspection of the pan/tilt head 102 fails, which indicates that after the pan/tilt head 102 is controlled to execute the shake operation, substances such as sand particles and water are still left in the pan/tilt head 102, which causes the pan/tilt head 102 to be stuck or have problems in orientation, at this time, the flight controller 104 may generate third prompt information and send the third prompt information to the control terminal 11, where the third prompt information is used to prompt a user that the state of the pan/tilt head is abnormal and needs to be maintained.
In addition, if cloud platform self-checking is successful, just the cloud platform is in unmanned aerial vehicle's flight in-process appears blocking or faces the unusual problem, then generates third prompt information.
Since the cradle head cannot rotate to all possible angles in the self-checking process, in some scenarios, although the cradle head 102 can successfully perform the self-checking, the cradle head 102 may still have a problem of being stuck or having an abnormal orientation in the flight process of the unmanned aerial vehicle 10, and at this time, the flight controller 104 may also generate the third prompt message as described above.
Optionally, after the control of the pan/tilt head to execute the preset operation, the method further includes: and recording information of the preset operation executed by the holder, wherein the information comprises time, place or times.
For example, after the flight controller 104 controls the pan/tilt head 102 to perform the dithering operation, information that the pan/tilt head 102 performs the dithering operation may also be recorded in a log, which may include the time, location, or number of times the pan/tilt head 102 performed the dithering operation. Thereby allowing a maintenance person to perform maintenance on the pan/tilt head 102 based on the historical landing information recorded in the log, information on performing a shaking operation, and the like.
In the embodiment, the second prompt information is generated by controlling the cradle head to shake or when the cradle head is in a shaking state so as to prompt that the current operation of the cradle head is not abnormal, and the user experience is improved. In addition, after the cradle head is controlled to execute the shaking operation, the cradle head is controlled to perform self-checking, and when the self-checking fails, third prompt information is generated to prompt a user that the state of the cradle head is abnormal, so that the cradle head can be maintained in time, and the service life of the cradle head is prolonged. In addition, the information of the shaking operation executed by the holder is recorded, so that maintenance personnel can be helped to accurately position the fault of the holder.
The embodiment of the application provides a control device of a cloud platform. Fig. 4 is a structural diagram of a control device of a pan/tilt head provided in the embodiment of the present application, where the control device may specifically be a control device in an unmanned aerial vehicle, such as an aircraft controller, or the control device may also be a control device in a control terminal 11. As shown in fig. 4, the control device 40 of the pan/tilt head includes: a memory 41 and a processor 42. The memory 41 is used for storing program codes; a processor 42, calling the program code, for performing the following when the program code is executed: acquiring historical landing information of the unmanned aerial vehicle, wherein the historical landing information comprises the type of a historical landing point of the unmanned aerial vehicle; and if the type of the historical falling point is the target type, controlling the holder to execute preset operation.
Optionally, the target type includes at least one of the following: sand beach, desert, sandstone road surface, reef, water surface.
Optionally, when the processor 42 acquires the historical landing information of the unmanned aerial vehicle, it is specifically configured to: and when the unmanned aerial vehicle is started, acquiring historical landing information of the unmanned aerial vehicle.
Optionally, the shooting device is mounted on the pan-tilt; before processor 42 obtains the historical landing information of the drone, it is further configured to: when the unmanned aerial vehicle is in a landing state, acquiring environment image information from the shooting device; and recording historical landing information of the unmanned aerial vehicle according to the environment image information.
Optionally, the unmanned aerial vehicle is in the landing state, include: and the unmanned aerial vehicle receives a landing control instruction.
Optionally, when the processor 42 records the historical landing information of the unmanned aerial vehicle according to the environment image information, the processor is specifically configured to: determining the type of the environment according to the environment image information; when the type of the environment is the target type, generating first prompt information, wherein the first prompt information is used for prompting a user to change a landing point of the unmanned aerial vehicle; and if the landing point of the unmanned aerial vehicle is not changed by the user, recording historical landing information of the unmanned aerial vehicle.
Optionally, when the processor 42 controls the pan/tilt head to execute the preset operation, the processor is specifically configured to: and controlling the holder to execute a shaking operation.
Optionally, when the processor 42 controls the pan/tilt head to execute the shake operation, the processor is specifically configured to: and controlling the cradle head to shake according to a preset shaking path.
Optionally, the preset shaking path is characterized by an angular velocity and/or an angular acceleration of the rotation of the holder with the rotation shaft as an axis.
Optionally, the processor 42 is further configured to: and determining the preset jitter path according to the structure or the installation mode of the holder.
Optionally, the rotation shaft includes at least one of: pitch axis, roll axis, yaw axis.
Optionally, the processor 42 is further configured to: and generating second prompt information before controlling the cradle head to shake or when the cradle head is in a shaking state, wherein the second prompt information is used for prompting a user that the current operation of the cradle head is not abnormal.
Optionally, after the processor 42 controls the pan/tilt head to perform the preset operation, the processor is further configured to: controlling the holder to perform self-inspection; and if the self-checking of the holder fails, generating third prompt information, wherein the third prompt information is used for prompting the user that the state of the holder is abnormal.
Optionally, when the processor 42 controls the pan/tilt head to perform self-inspection, the processor is specifically configured to: and controlling the holder to rotate to a limit angle.
Optionally, after the processor 42 controls the pan/tilt head to perform the preset operation, the processor is further configured to: and recording information of the preset operation executed by the holder, wherein the information comprises time, place or times.
In some embodiments, the control device 40 may also include a communication interface 43. When the control device 40 is a control device in a drone, the communication interface 43 may be used to communicate with a cradle head or a communication module 103 of the drone. When the control device 40 is a control device in the control terminal 11, the communication interface 43 can be used to communicate with the communication module 103 of the drone.
The specific principle and implementation manner of the control method of the pan/tilt head executed by the control device provided in the embodiment of the present application are similar to those of the above embodiments, and are not described herein again.
The embodiment of the application provides an unmanned aerial vehicle. This unmanned aerial vehicle includes: fuselage, power system and controlling means as described in the above embodiment. Wherein, the power system is arranged on the fuselage and used for providing flight power; the control device is configured to execute the control method of the pan/tilt head as described above, and the specific principle and implementation manner of the control method of the pan/tilt head executed by the control device are similar to those of the above embodiments, and are not described herein again.
In addition, the present embodiment also provides a computer-readable storage medium on which a computer program is stored, the computer program being executed by a processor to implement the control method of the pan/tilt head described in the above embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (32)
- A control method of a pan-tilt head, wherein the pan-tilt head is mounted on an unmanned aerial vehicle, the method comprising:acquiring historical landing information of the unmanned aerial vehicle, wherein the historical landing information comprises the type of a historical landing point of the unmanned aerial vehicle;and if the type of the historical falling point is the target type, controlling the holder to execute preset operation.
- The method of claim 1, wherein the target type comprises at least one of:sand beach, desert, sandstone road surface, reef, water surface.
- The method according to claim 1 or 2, wherein the obtaining of the historical landing information of the drone comprises:and when the unmanned aerial vehicle is started, acquiring historical landing information of the unmanned aerial vehicle.
- The method of any one of claims 1-3, wherein a camera is mounted on the pan/tilt head;before the obtaining of the historical landing information of the unmanned aerial vehicle, the method further includes:when the unmanned aerial vehicle is in a landing state, acquiring environment image information from the shooting device;and recording historical landing information of the unmanned aerial vehicle according to the environment image information.
- The method of claim 4, wherein the drone is in a landing state, comprising: and the unmanned aerial vehicle receives a landing control instruction.
- The method according to claim 4 or 5, wherein the recording of the historical landing information of the drone according to the environment image information comprises:determining the type of the environment according to the environment image information;when the type of the environment is the target type, generating first prompt information, wherein the first prompt information is used for prompting a user to change a landing point of the unmanned aerial vehicle;and if the landing point of the unmanned aerial vehicle is not changed by the user, recording historical landing information of the unmanned aerial vehicle.
- The method according to any one of claims 1 to 6, wherein said controlling said head to perform a preset operation comprises: and controlling the holder to execute a shaking operation.
- The method of claim 7, wherein said controlling said pan/tilt head to perform a dithering operation comprises:and controlling the cradle head to shake according to a preset shaking path.
- The method according to claim 8, wherein the preset shake path is characterized by an angular velocity and/or an angular acceleration of the rotation of the head about the rotation axis.
- The method according to claim 8 or 9, characterized in that the method further comprises:and determining the preset jitter path according to the structure or the installation mode of the holder.
- The method of claim 9, wherein the rotating shaft comprises at least one of:pitch axis, roll axis, yaw axis.
- The method according to any one of claims 1-11, further comprising:and generating second prompt information before controlling the cradle head to shake or when the cradle head is in a shaking state, wherein the second prompt information is used for prompting a user that the current operation of the cradle head is not abnormal.
- The method according to any one of claims 1-12, wherein after controlling the pan-tilt head to perform the preset operation, the method further comprises:controlling the holder to perform self-inspection;and if the self-checking of the holder fails, generating third prompt information, wherein the third prompt information is used for prompting the user that the state of the holder is abnormal.
- The method of claim 13, wherein controlling the pan-tilt head to perform a self-test comprises: and controlling the holder to rotate to a limit angle.
- The method according to any one of claims 1 to 14, wherein after controlling the pan-tilt head to perform the preset operation, the method further comprises:and recording information of the preset operation executed by the holder, wherein the information comprises time, place or times.
- A control device of a pan/tilt head, comprising: a memory and a processor;the memory is used for storing program codes;the processor, invoking the program code, when executed, is configured to:acquiring historical landing information of the unmanned aerial vehicle, wherein the historical landing information comprises the type of a historical landing point of the unmanned aerial vehicle;and if the type of the historical falling point is the target type, controlling the holder to execute preset operation.
- The control apparatus of claim 16, wherein the target type comprises at least one of:sand beach, desert, sandstone road surface, reef, water surface.
- The control device according to claim 16 or 17, wherein the processor, when acquiring the historical landing information of the drone, is specifically configured to:and when the unmanned aerial vehicle is started, acquiring historical landing information of the unmanned aerial vehicle.
- The control device according to any one of claims 16 to 18, wherein a photographing device is mounted on the pan/tilt head;before the processor acquires the historical landing information of the unmanned aerial vehicle, the processor is further used for:when the unmanned aerial vehicle is in a landing state, acquiring environment image information from the shooting device;and recording historical landing information of the unmanned aerial vehicle according to the environment image information.
- The control device of claim 19, wherein the drone is in a landing state, comprising: and the unmanned aerial vehicle receives a landing control instruction.
- The control device according to claim 19 or 20, wherein the processor is configured to, when recording the historical landing information of the drone according to the environment image information, specifically:determining the type of the environment according to the environment image information;when the type of the environment is the target type, generating first prompt information, wherein the first prompt information is used for prompting a user to change a landing point of the unmanned aerial vehicle;and if the landing point of the unmanned aerial vehicle is not changed by the user, recording historical landing information of the unmanned aerial vehicle.
- The control device according to any one of claims 16 to 21, wherein the processor is configured to, when controlling the pan/tilt head to perform a preset operation, specifically: and controlling the holder to execute a shaking operation.
- The control device according to claim 22, wherein the processor, when controlling the pan/tilt head to perform the shake operation, is specifically configured to:and controlling the cradle head to shake according to a preset shaking path.
- The control device according to claim 23, wherein the preset shake path is characterized by an angular velocity and/or an angular acceleration of the pan/tilt head about a rotation axis.
- The control device of claim 23 or 24, wherein the processor is further configured to:and determining the preset jitter path according to the structure or the installation mode of the holder.
- The control device of claim 24, wherein the rotating shaft comprises at least one of:pitch axis, roll axis, yaw axis.
- The control device of any one of claims 16-26, wherein the processor is further configured to:and generating second prompt information before controlling the cradle head to shake or when the cradle head is in a shaking state, wherein the second prompt information is used for prompting a user that the current operation of the cradle head is not abnormal.
- The control device according to any one of claims 16 to 27, wherein the processor is further configured to, after controlling the pan/tilt head to perform the preset operation:controlling the holder to perform self-inspection;and if the self-checking of the holder fails, generating third prompt information, wherein the third prompt information is used for prompting the user that the state of the holder is abnormal.
- The control device according to claim 28, wherein the processor is configured to, when controlling the pan/tilt head to perform self-inspection: and controlling the holder to rotate to a limit angle.
- The control device according to any one of claims 16 to 29, wherein the processor is further configured to, after controlling the pan/tilt head to perform the preset operation:and recording information of the preset operation executed by the holder, wherein the information comprises time, place or times.
- An unmanned aerial vehicle, comprising:a body;the power system is arranged on the fuselage and used for providing flight power;and a control device as claimed in any one of claims 16 to 30.
- A computer-readable storage medium, having stored thereon a computer program for execution by a processor to perform the method of any one of claims 1-15.
Applications Claiming Priority (1)
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| PCT/CN2020/079238 WO2021179293A1 (en) | 2020-03-13 | 2020-03-13 | Gimbal control method and apparatus, unmanned aerial vehicle, and storage medium |
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| WO2021179293A1 (en) | 2021-09-16 |
| CN113661463B (en) | 2024-03-15 |
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